惯导SLAM中IMU预积分

RGBD-SLAM受视野范围影响，双目SLAM结构较为复杂，还是看看单目SLAM吧，但是由于单目SLAM的深度不确定性，因此还是先研究下IUM．．．．．．

由于公式太多，还是直接给出网址大家去看原始文章吧．

这两篇博客写的很清楚

https://blog.csdn.net/wangshuailpp/article/details/80647621

https://blog.csdn.net/wangshuailpp/article/details/78461171

泡泡机器人上这四篇推导也很清楚

https://mp.weixin.qq.com/s?__biz=MzI5MTM1MTQwMw==&mid=2247497730&idx=1&sn=424c1527065cc9cf0a79dc160b988ab3&chksm=ec134606db64cf10a7b3e0672f4b8de6a3a4055cb21e3468d8a415134fed3d8595da2c330fd8&mpshare=1&scene=23&srcid=0727D0CPZkL2oaQDh4upwu9B#rd

https://mp.weixin.qq.com/s?__biz=MzI5MTM1MTQwMw==&mid=2247497758&idx=1&sn=3bf50d78c3a0b2490220553de4436e2c&chksm=ec13461adb64cf0ceeb8c79a922799079a940ee8762f9047829576e4c717ea0fffd24a6e9d38&mpshare=1&scene=23&srcid=0727RcCJzPyHivFkq8xlSqDI#rd

https://mp.weixin.qq.com/s?__biz=MzI5MTM1MTQwMw==&mid=2247497777&idx=1&sn=0b2bc1bbe95d3a40b4f8cd2b403fbb8d&chksm=ec134635db64cf23fcc2b8f13670a9b1c7081fa0d0c618a53aac0dcc4ab97092b2c459d40a10&mpshare=1&scene=23&srcid=0727ofEY4AqrOCbZrbEYLnbk#rd

https://mp.weixin.qq.com/s?__biz=MzI5MTM1MTQwMw==&mid=2247497852&idx=1&sn=984a7e422639e6ba818dfa97abcb5236&chksm=ec134678db64cf6e516fc67a46cd0aeecf094d36ba1eb4a209c2f5bf2efc2cea86d101b187cd&mpshare=1&scene=23&srcid=0730Jp7pvYQQgMKTdGOEgeQx#rd

一共四篇，讲的还是很不错的，推导很清楚．

还有知乎上一篇文章也不错

https://zhuanlan.zhihu.com/p/38009126